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batt_smbus rework

This commit is contained in:
Jake Dahl 2018-10-15 10:00:27 -06:00 committed by Daniel Agar
parent d71fc31d8b
commit f8b9217750
4 changed files with 611 additions and 473 deletions
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2
msg/battery_status.msg
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@ -18,6 +18,8 @@ uint16 run_time_to_empty # predicted remaining battery capacity based on the p
uint16 average_time_to_empty # predicted remaining battery capacity based on the average rate of discharge in min uint16 average_time_to_empty # predicted remaining battery capacity based on the average rate of discharge in min
uint16 serial_number # serial number of the battery pack uint16 serial_number # serial number of the battery pack
float32[4] voltage_cell_v # Battery individual cell voltages
float32 max_cell_voltage_delta # Max difference between individual cell voltages
bool is_powering_off # Power off event imminent indication, false if unknown bool is_powering_off # Power off event imminent indication, false if unknown

4
src/drivers/batt_smbus/CMakeLists.txt
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@ -36,8 +36,8 @@ px4_add_module(
STACK_MAIN 1100 STACK_MAIN 1100
COMPILE_FLAGS COMPILE_FLAGS
SRCS SRCS
batt_smbus_main.cpp
batt_smbus.cpp batt_smbus.cpp
batt_smbus_i2c.cpp
DEPENDS DEPENDS
drivers__smbus
) )

882
src/drivers/batt_smbus/batt_smbus.cpp
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File diff suppressed because it is too large Load Diff

196
src/drivers/batt_smbus/batt_smbus.h
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@ -47,22 +47,30 @@
#include <px4_config.h> #include <px4_config.h>
#include <px4_workqueue.h> #include <px4_workqueue.h>
#include <perf/perf_counter.h>
#include <platforms/px4_module.h>
#include <stdio.h> #include <stdio.h>
#include <string.h> #include <string.h>
#include <ecl/geo/geo.h> #include <ecl/geo/geo.h>
#include <lib/cdev/CDev.hpp> #include <lib/drivers/smbus/SMBus.hpp>
#include <drivers/device/Device.hpp>
#include <drivers/device/i2c.h>
#include <drivers/drv_device.h> #include <drivers/drv_device.h>
#include <drivers/drv_hrt.h> #include <drivers/drv_hrt.h>
#include <uORB/topics/battery_status.h> #include <uORB/topics/battery_status.h>
#define DATA_BUFFER_SIZE 32 #define DATA_BUFFER_SIZE 32
#define BATT_CELL_VOLTAGE_THRESHOLD_RTL 0.5f ///< Threshold in volts to RTL if cells are imbalanced
#define BATT_CELL_VOLTAGE_THRESHOLD_FAILED 1.5f ///< Threshold in volts to Land if cells are imbalanced
#define BATT_CURRENT_UNDERVOLTAGE_THRESHOLD 5.0f ///< Threshold in amps to disable undervoltage protection
#define BATT_VOLTAGE_UNDERVOLTAGE_THRESHOLD 3.4f ///< Threshold in volts to re-enable undervoltage protection
#define BATT_SMBUS_I2C_BUS PX4_I2C_BUS_EXPANSION #define BATT_SMBUS_I2C_BUS PX4_I2C_BUS_EXPANSION
#define BATT_SMBUS_CURRENT 0x0A ///< current register #define BATT_SMBUS_CURRENT 0x0A ///< current register
@ -84,20 +92,49 @@
#define BATT_SMBUS_MANUFACTURE_DATE 0x1B ///< manufacture date register #define BATT_SMBUS_MANUFACTURE_DATE 0x1B ///< manufacture date register
#define BATT_SMBUS_SERIAL_NUMBER 0x1C ///< serial number register #define BATT_SMBUS_SERIAL_NUMBER 0x1C ///< serial number register
#define BATT_SMBUS_MEASUREMENT_INTERVAL_US 100000 ///< time in microseconds, measure at 10Hz #define BATT_SMBUS_MEASUREMENT_INTERVAL_US 100000 ///< time in microseconds, measure at 10Hz
#define BATT_SMBUS_TIMEOUT_US 1000000 ///< timeout looking for battery 10seconds after startup #define BATT_SMBUS_TIMEOUT_US 1000000 ///< timeout looking for battery 10seconds after startup
#define BATT_SMBUS_MANUFACTURER_ACCESS 0x00 #define BATT_SMBUS_MANUFACTURER_ACCESS 0x00
#define BATT_SMBUS_MANUFACTURER_DATA 0x23 #define BATT_SMBUS_MANUFACTURER_DATA 0x23
#define BATT_SMBUS_MANUFACTURER_BLOCK_ACCESS 0x44 #define BATT_SMBUS_MANUFACTURER_BLOCK_ACCESS 0x44
#define BATT_SMBUS_SECURITY_KEYS 0x0035 #define BATT_SMBUS_SECURITY_KEYS 0x0035
#define BATT_SMBUS_CELL_1_VOLTAGE 0x3F
#define BATT_SMBUS_CELL_2_VOLTAGE 0x3E
#define BATT_SMBUS_CELL_3_VOLTAGE 0x3D
#define BATT_SMBUS_CELL_4_VOLTAGE 0x3C
#define BATT_SMBUS_LIFETIME_FLUSH 0x002E
#define BATT_SMBUS_LIFETIME_BLOCK_ONE 0x0060
#define BATT_SMBUS_ENABLED_PROTECTIONS_A_ADDRESS 0x4938
#define BATT_SMBUS_SEAL 0x0030
#ifndef CONFIG_SCHED_WORKQUEUE #define BATT_SMBUS_ENABLED_PROTECTIONS_A_DEFAULT 0xcf
# error This requires CONFIG_SCHED_WORKQUEUE. #define BATT_SMBUS_ENABLED_PROTECTIONS_A_CUV_DISABLED 0xce
#define NUM_BUS_OPTIONS (sizeof(bus_options)/sizeof(bus_options[0]))
enum BATT_SMBUS_BUS {
BATT_SMBUS_BUS_ALL = 0,
BATT_SMBUS_BUS_I2C_INTERNAL,
BATT_SMBUS_BUS_I2C_EXTERNAL,
BATT_SMBUS_BUS_I2C_EXTERNAL1,
BATT_SMBUS_BUS_I2C_EXTERNAL2
};
struct batt_smbus_bus_option {
enum BATT_SMBUS_BUS busid;
const char *devpath;
uint8_t busnum;
} bus_options[] = {
{ BATT_SMBUS_BUS_I2C_EXTERNAL, "/dev/batt_smbus_ext", PX4_I2C_BUS_EXPANSION},
#ifdef PX4_I2C_BUS_EXPANSION1
{ BATT_SMBUS_BUS_I2C_EXTERNAL1, "/dev/batt_smbus_ext1", PX4_I2C_BUS_EXPANSION1},
#endif #endif
#ifdef PX4_I2C_BUS_EXPANSION2
/** { BATT_SMBUS_BUS_I2C_EXTERNAL2, "/dev/batt_smbus_ext2", PX4_I2C_BUS_EXPANSION2},
* @brief Nuttshell accessible method to return the driver usage arguments. #endif
*/ #ifdef PX4_I2C_BUS_ONBOARD
void batt_smbus_usage(); { BATT_SMBUS_BUS_I2C_INTERNAL, "/dev/batt_smbus_int", PX4_I2C_BUS_ONBOARD},
#endif
};
/** /**
* @brief Nuttshell accessible method to return the battery manufacture date. * @brief Nuttshell accessible method to return the battery manufacture date.
@ -117,42 +154,26 @@ int manufacturer_name();
*/ */
int serial_number(); int serial_number();
extern device::Device *BATT_SMBUS_I2C_interface(int bus);
typedef device::Device *(*BATT_SMBUS_constructor)(int);
class BATT_SMBUS : public cdev::CDev
class BATT_SMBUS : public ModuleBase<BATT_SMBUS>
{ {
public: public:
/** BATT_SMBUS(SMBus *interface, const char *path);
* @brief Default Constructor.
* @param interface The device communication interface (i2c)
* @param path The device i2c address
*/
BATT_SMBUS(device::Device *interface, const char *path);
/** ~BATT_SMBUS();
* @brief Default Destructor.
*/
virtual ~BATT_SMBUS();
/** friend SMBus;
* @brief Sends a block read command.
* @param cmd_code The command code.
* @param data The returned data.
* @param length The number of bytes being read
* @return Returns PX4_OK on success, PX4_ERROR on failure.
*/
int block_read(const uint8_t cmd_code, void *data, const unsigned length);
/** /** @see ModuleBase */
* @brief Sends a block write command. static int print_usage();
* @param cmd_code The command code.
* @param data The data to be written. /** @see ModuleBase */
* @param length The number of bytes being written. static int custom_command(int argc, char *argv[]);
* @return Returns PX4_OK on success, PX4_ERROR on failure.
*/ /** @see ModuleBase */
int block_write(const uint8_t cmd_code, void *data, const unsigned length); static int task_spawn(int argc, char *argv[]);
/** /**
* @brief Reads data from flash. * @brief Reads data from flash.
@ -171,14 +192,6 @@ public:
*/ */
int dataflash_write(uint16_t &address, void *data, const unsigned length); int dataflash_write(uint16_t &address, void *data, const unsigned length);
/**
* @brief Calculates the PEC from the data.
* @param buff The buffer that stores the data.
* @param length The number of bytes being written.
* @return Returns PX4_OK on success, PX4_ERROR on failure.
*/
uint8_t get_pec(uint8_t *buffer, const uint8_t length);
/** /**
* @brief Returns the SBS serial number of the battery device. * @brief Returns the SBS serial number of the battery device.
* @return Returns the SBS serial number of the battery device. * @return Returns the SBS serial number of the battery device.
@ -193,21 +206,15 @@ public:
/** /**
* @brief Prints the latest report. * @brief Prints the latest report.
* @return Returns PX4_OK on success, PX4_ERROR on failure.
*/ */
int info(); void print_report();
/**
* @brief Initializes the smart battery device. Calls probe() to check for device on bus.
* @return Returns PX4_OK on success, PX4_ERROR on failure.
*/
virtual int init();
/** /**
* @brief Gets the SBS manufacture date of the battery. * @brief Gets the SBS manufacture date of the battery.
* @return Returns PX4_OK on success, PX4_ERROR on failure. * @return Returns PX4_OK on success, PX4_ERROR on failure.
*/ */
int manufacture_date(void *man_date); int manufacture_date();
/** /**
* @brief Gets the SBS manufacturer name of the battery device. * @brief Gets the SBS manufacturer name of the battery device.
@ -235,13 +242,6 @@ public:
* @return Returns PX4_OK on success, PX4_ERROR on failure. * @return Returns PX4_OK on success, PX4_ERROR on failure.
*/ */
int manufacturer_write(const uint16_t cmd_code, void *data, const unsigned length); int manufacturer_write(const uint16_t cmd_code, void *data, const unsigned length);
/**
* @brief Sends a read-word command with cmd_code as the command.
* @param cmd_code The command code.
* @param data The returned data.
* @return Returns PX4_OK on success, PX4_ERROR on failure.
*/
int read_word(const uint8_t cmd_code, void *data);
/** /**
* @brief Search all possible slave addresses for a smart battery. * @brief Search all possible slave addresses for a smart battery.
@ -249,24 +249,44 @@ public:
*/ */
int search_addresses(); int search_addresses();
/**
* @brief Starts periodic reads from the battery.
*/
void start();
/**
* @brief Stops periodic reads from the battery.
*/
void stop();
/** /**
* @brief Unseals the battery to allow writing to restricted flash. * @brief Unseals the battery to allow writing to restricted flash.
* @return Returns PX4_OK on success, PX4_ERROR on failure. * @return Returns PX4_OK on success, PX4_ERROR on failure.
*/ */
int unseal(); int unseal();
protected: /**
device::Device *_interface; * @brief Seals the battery to disallow writing to restricted flash.
* @return Returns PX4_OK on success, PX4_ERROR on failure.
*/
int seal();
/**
* @brief This command flushes the RAM Lifetime Data to data flash to help streamline evaluation testing.
* @return Returns PX4_OK on success, PX4_ERROR on failure.
*/
int lifetime_data_flush();
/**
* @brief Reads the lifetime data from block 1.
* @return Returns PX4_OK on success, PX4_ERROR on failure.
*/
int lifetime_read_block_one();
/**
* @brief Reads the lifetime data from block 1.
* @param address Address of the register to write
* @param tx_buf The sent data.
* @param length The number of bytes being written.
* @return Returns PX4_OK on success, PX4_ERROR on failure.
*/
int write_flash(uint16_t address, uint8_t *tx_buf, const unsigned length);
int get_cell_voltages();
void set_undervoltage_protection(float average_current);
SMBus *_interface;
private: private:
@ -275,13 +295,19 @@ private:
*/ */
static void cycle_trampoline(void *arg); static void cycle_trampoline(void *arg);
perf_counter_t _cycle;
float _cell_voltages[4] = {};
float _max_cell_voltage_delta{0};
float _min_cell_voltage{0};
/** /**
* @brief The loop that continually generates new reports. * @brief The loop that continually generates new reports.
*/ */
void cycle(); void cycle();
/** @struct _work Work queue for scheduling reads. */ /** @struct _work Work queue for scheduling reads. */
work_s _work = work_s{}; static work_s _work;
/** @param _last_report Last published report, used for test(). */ /** @param _last_report Last published report, used for test(). */
battery_status_s _last_report = battery_status_s{}; battery_status_s _last_report = battery_status_s{};
@ -289,8 +315,8 @@ private:
/** @param _batt_topic uORB battery topic. */ /** @param _batt_topic uORB battery topic. */
orb_advert_t _batt_topic; orb_advert_t _batt_topic;
/** @param _batt_orb_id uORB battery topic ID. */ /** @param _cell_count Number of series cell. */
orb_id_t _batt_orb_id; uint8_t _cell_count;
/** @param _batt_capacity Battery design capacity in mAh (0 means unknown). */ /** @param _batt_capacity Battery design capacity in mAh (0 means unknown). */
uint16_t _batt_capacity; uint16_t _batt_capacity;
@ -316,7 +342,13 @@ private:
/** @param _manufacturer_name Name of the battery manufacturer. */ /** @param _manufacturer_name Name of the battery manufacturer. */
char *_manufacturer_name; char *_manufacturer_name;
/* Do not allow copy construction or move assignment of this class. */ /** @param _lifetime_max_delta_cell_voltage Max lifetime delta of the battery cells */
float _lifetime_max_delta_cell_voltage;
/** @param _cell_undervoltage_protection_status 0 if protection disabled, 1 if enabled */
uint8_t _cell_undervoltage_protection_status;
/** Do not allow copy construction or move assignment of this class. */
BATT_SMBUS(const BATT_SMBUS &); BATT_SMBUS(const BATT_SMBUS &);
BATT_SMBUS operator=(const BATT_SMBUS &); BATT_SMBUS operator=(const BATT_SMBUS &);
}; };